Support yaml for ArFrameMetadata
This commit is contained in:
Georg Hagen
@@ -5,8 +5,9 @@
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*/
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#include "ArFrameMetadata.hpp"
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#include "Extensions/RymlConverters.hpp"
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#include <fmt/format.h>
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#include <pugixml.hpp>
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#include <yaml-cpp/yaml.h>
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#include <sstream>
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namespace OpenVulkano::AR
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@@ -45,18 +46,21 @@ namespace OpenVulkano::AR
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}
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}
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template<glm::length_t SIZE, typename T, glm::qualifier Q>
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void MatToYaml(const glm::mat<SIZE, SIZE, T, Q>& mat, std::ostream& stream, const std::string& nl = "\n")
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template<typename T, int S>
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void ReadMat(const ryml::NodeRef& node, T& mat)
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{
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for(int r = 0 ; r < SIZE; r++)
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if (!node.is_seq()) return;
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int row = 0;
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for(auto iter = node.begin(); iter != node.end() && row < S; ++iter)
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{
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stream << nl << "- [";
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for (int c = 0; c < SIZE; c++)
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const auto rowNode = *iter;
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int col = 0;
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for(auto colIter = rowNode.begin(); colIter != rowNode.end() && col < S; ++colIter)
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{
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if (c) stream << ',';
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stream << ' ' << mat[c][r];
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(*colIter) >> mat[col][row];
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col++;
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}
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stream << " ]";
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row++;
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}
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}
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}
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@@ -89,32 +93,82 @@ namespace OpenVulkano::AR
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return frameData;
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}
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ArFrameMetadata ArFrameMetadata::FromYaml(const char* xml, size_t length)
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ArFrameMetadata ArFrameMetadata::FromYaml(const char* yaml, size_t length)
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{
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ArFrameMetadata frameData;
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//TODO
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ryml::Tree tree;
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ryml::parse_in_arena(c4::csubstr(yaml, length), &tree);
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ryml::NodeRef root = tree.rootref();
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ryml::NodeRef camNode = root["Camera"];
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ReadMat<Math::Matrix4f, 4>(camNode["Transform"], frameData.transformation);
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ReadMat<Math::Matrix4f, 4>(camNode["Projection"], frameData.projection);
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Math::Matrix3f intrinsic;
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Math::Vector2i res;
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camNode["Resolution"] >> res;
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ReadMat<Math::Matrix3f, 3>(camNode["Intrinsics"], intrinsic);
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frameData.intrinsic = {intrinsic, res};
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camNode["ExposureDuration"] >> frameData.exposureTime;
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camNode["ExposureOffset"] >> frameData.exposureOffset;
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uint64_t nanos;
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root["Timestamp"] >> nanos;
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frameData.timestamp = nanos;
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root["TimestampDepth"] >> nanos;
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frameData.timestampDepth = nanos;
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std::string tracking;
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ryml::NodeRef trackingNode = root["TrackingState"];
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trackingNode["Camera"] >> tracking;
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frameData.trackingState = ArTrackingState::GetFromName(tracking);
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ryml::NodeRef lightNode = root["Light"];
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lightNode["Intensity"] >> frameData.lightIntensity;
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lightNode["ColorTemp"] >> frameData.lightColorTemp;
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return frameData;
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}
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std::string ArFrameMetadata::ToYaml() const
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{
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std::stringstream meta;
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meta << std::setprecision(std::numeric_limits<double>::digits10);
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meta << "camera:\n transform: ";
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MatToYaml(transformation, meta, "\n ");
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meta << "\n projection";
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MatToYaml(projection, meta, "\n ");
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meta << "\n resolution:\n width: " << intrinsic.GetResolution().x << "\n height: " << intrinsic.GetResolution().y;
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meta << "\n intrinsics: ";
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MatToYaml(intrinsic.cameraMatrix, meta, "\n ");
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meta << "\n exposureDuration: " << exposureTime << "\n exposureOffset: " << exposureOffset;
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meta << "\ntimestamp: " << timestamp.GetSeconds();
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meta << "\ntimestampDepth: " << timestampDepth.GetNanos();
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meta << "\ntrackingState: \n camera: " << trackingState.GetName();
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meta << "\nlight:\n intensity: " << lightIntensity << "\n colorTemp: " << lightColorTemp;
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return meta.str();
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const auto& camMat = intrinsic.GetMatrix();
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std::string meta = fmt::format(R"(Camera:
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Transform:
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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Projection:
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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- [ {}, {}, {}, {} ]
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Resolution: '({},{})'
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Intrinsics:
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- [ {}, {}, {} ]
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- [ {}, {}, {} ]
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- [ {}, {}, {} ]
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ExposureDuration: {}
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ExposureOffset: {}
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Timestamp: {}
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TimestampDepth: {}
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TrackingState:
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Camera: {}
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Light:
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Intensity: {}
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ColorTemp: {}
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)",
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transformation[0][0], transformation[1][0], transformation[2][0], transformation[3][0],
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transformation[0][1], transformation[1][1], transformation[2][1], transformation[3][1],
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transformation[0][2], transformation[1][2], transformation[2][2], transformation[3][2],
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transformation[0][3], transformation[1][3], transformation[2][3], transformation[3][3],
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projection[0][0], projection[1][0], projection[2][0], projection[3][0],
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projection[0][1], projection[1][1], projection[2][1], projection[3][1],
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projection[0][2], projection[1][2], projection[2][2], projection[3][2],
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projection[0][3], projection[1][3], projection[2][3], projection[3][3],
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intrinsic.GetResolution().x, intrinsic.GetResolution().y,
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camMat[0][0], camMat[1][0], camMat[2][0],
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camMat[0][1], camMat[1][1], camMat[2][1],
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camMat[0][2], camMat[1][2], camMat[2][2],
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exposureTime, exposureOffset, timestamp.GetNanos(), timestampDepth.GetNanos(),
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trackingState.GetName(), lightIntensity, lightColorTemp
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);
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return meta;
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}
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std::string ArFrameMetadata::ToXML() const
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@@ -128,7 +182,7 @@ namespace OpenVulkano::AR
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MatToXML(projection, meta, "\n\t\t\t");
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meta << "\n\t\t</projection>\n\t\t<resolution>\n\t\t\t<width>" << intrinsic.GetResolution().x << "</width>\n\t\t\t";
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meta << "<height>" << intrinsic.GetResolution().y << "</height>\n\t\t</resolution>\n\t\t<intrinsics>";
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MatToXML(intrinsic.cameraMatrix, meta, "\n\t\t\t");
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MatToXML(intrinsic.GetMatrix(), meta, "\n\t\t\t");
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meta << "</intrinsics>\n\t\t<exposureDuration>" << exposureTime << "</exposureDuration>\n\t\t<exposureOffset>" << exposureOffset;
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meta << "</exposureOffset>\n\t</camera>\n\t";
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meta << "<timestamp>" << timestamp.GetSeconds() << "</timestamp>\n\t";
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